201137372 六、發明說明： 【發明所屬之技術領域】 本發明係有魏馬達，特財_無織流馬達(BLDQ 故障之檢測。 【先前技術】 電動馬達在工業社會中無疑是一種非常基本且重要的設備，每 年市場需求量_五十億台以上。在各式各_馬射，無刷直 •流馬達(brushless DC motor，BLDC)常被使用於硬碟機及其他許多 的工業應用場合，諸如汽車零件及家電等領域。 典型的無職流馬達是由環設於外側之多相繞轉子與位於 内側以永久磁鐵轉子所組成，兩者間存有一氣隙恤_，轉子的 旋轉會在氣时產生磁通’亦因此而產生反f動勢 electromotivefGrce，baek_EMp) ’該反電動勢係由於永久磁鐵轉子 在繞組定子前_所感應而生，域輸人馬達之能量無關，該反 電動勢係正比於馬達轉速、轉子磁通及對應繞組之阻數。 ，馬達控制器通常包含有高功率的場效電晶體(FET)，其極易被 過熱或過電流所燒毀，馬達内部之故_難事先檢測出來，如果 在未發現馬達故障前便透過馬達控制器對馬達送電，將會造成馬 達控制器嚴重的損害 ”” 【發明内容】 、本發明之主要目的係在於提供一種馬達繞組開路及短路檢測 法、可利用市售之馬達控制器進行檢測，無須添構額外設備 201137372 及增加額外支出’極為經濟、簡便且有效。 【實施方式】 第一圖所示者為一種市售無感無刷直流馬達(sensorless brushyDC motor)控制器與無刷直流馬達之典型應用線路圖，無 刷馬達之三相繞組3〇4, 3〇5,施係分驗由三端子迎，搬， 3〇3而連接於三相鶴電路21G，22G，23()，圖中所示之三相繞組 3〇4, 305, 3〇6係為Y接型式，當然亦可為△接。該三相驅動電路 • 21〇, 22〇, 23〇係包括二對(即6個)以場效電晶體所形成之電子開關 211，212, 221，222, 231，232，其中電子開關 211 及 212 為第一對， 電子開關221及222為第二對，電子開關231及说為第三對， 每-對皆由-ρ通道之高側開關211，221，231及一 Ν通道之低側 開關212, 222, 232所組成，雖然圖示之電子開關21】，2ΐ2, 221，η 231，232係為場效電晶體，但其亦可為其他開關元件，如隔離閘極 .雙載子電晶體(腿了)或雙載子接面電晶體(Β;τ)#，每一高側開關 211，221，231之源極(即電源端)係併聯至一直流定電獅νρ，所 有電子開關2U，212, 22!，222, 23i，232之閘極(即閘控端)係分別 連接至-微控制器100’三相繞組則，逝，3〇3之電壓準位係經由 分塵電路410, 420, 430❿回饋至該微控制器1〇〇之類比至數位轉 換态(ADC)輸入端，即繞組回饋輸入端1〇1_1〇3，以使該回饋電壓 保持在微控制器100可接受之範圍。另有一組分壓電路44〇則適 用於某些特殊馬達控制器，做為虛接地參考點，其分壓點連接至 微控制器100之第四ADC輸入端104，即虛接地回饋輸入端。 201137372 第二圖所示者係為由微控制器100所執行之開路檢·程，首 先截止所有電子開關功，瓜，如，232(步驟$叫，接著 導通任何-個高側開關211,221,231(步驟5〇2)，例如第一高側開 關21卜使所有繞組均被施加電源電壓Vp，接著讀取三繞組回饋 輸入端KU-HB之電壓值(步驟5〇3)，即可由該電壓值之高低來= 斷繞組是否為開路(步驟504) ’若所有電壓值均高於一基準值，即 為。無開路故障情形(步驟506) ’該基準值可較佳地選取為外值的 0/〇仁右有—電壓值低於該基準值，即表示繞組有開路故障情步 (步驟 505)。 y 第三圖所示者係為由微控制器1〇〇所執行之繞組對繞組或繞址 對電源(包括火線與地線)短路檢職程，首域止所有電子開^ 机取221，222, 231，232並持續一第,㈠物％微秒(步驟 511)，以消除殘餘賴，接著導通一個高側開關211，22ι，23ι及― 個與其不同一對之低侧開關212,222,232，例如第一高側開關叫 及第二低側開關222’並持續一短於第一時間之第二時間後將其截 止，例如5微秒，以使-短脈衝電流流過與該二已開啟的電子開 關(如211及222)相連之二繞組，例如第一繞組3〇4及第二繞組 3〇5(步驟512)，接著截止前述已導通的電子開關(如2 j ι及如)(步 驟叫，其後同時記錄與該二電子開關相連之繞組回饋輸入制如 102及101)(步驟514)。若在該二繞組之間未有短路狀況，在電流 停止後即會在繞組上產生-反電動勢，該反電動勢會表現在第一 及第二端子301，302間之電愿’即可藉由同時記錄與該二受測繞 201137372 組相連之繞組回饋輸入端101，102之電壓值而測得。接續前述步 驟514汁算該一受測繞組回饋輸入端電壓值之差值(步驟515)， 再將該差值與-臨界值做比較(步驟516)，若該差值大於該臨界 值，即表示該二受測繞組(如3〇4及3〇5)間沒有短路故障；反之， 右該差值小於該臨界值’即表示該二受測繞組間有短路故障。以 上述方法重覆施行於其他的高側高關机⑵，说與低側開關叫 222, 232之組合，以三相繞組為例，任意兩繞組之組合只有三種可 能’故只需測試三種不同的高觸酸低觸敝合即可完成所 有繞組對繞組之短路檢測。上述雜路制方法不僅能檢測出繞 組對繞組之短路轉，對於繞組與魏供應火線或地線之短路故 障亦可一併檢測出來。 第四圖為本發明之上述鱗檢測方法在沒植路故障情形時 之二受測端子間之電驗形’波形6G2及6G3分別為繞組回饋輪 & 102及101之波形，區段_係表示電子開關導通期間(即前 述第二時間），而區段601則表示該二繞組回饋輪入端1〇1，102在 電子開關再度截止後(即第二時間過後)所記錄_電屢變化，波形 605係為以波形602減除波形603後所得之差值，虛線6〇4表示前 述之臨界值’該差值高於臨界值之部份即可反應—反電動勢之存 在。相反的，第五圖所示者為在有短路故障時之狀態，波形奶 及613同樣分別為輸入端102及1〇1之波形 二者之差值，可B，其差_餘轉值，料秘 201137372 本發明之方法係以市售的微控制器來實施，但並非每一種市售 微控制器皆具有同時記錄兩組觀輸人值之能力，絲使用的微 控織確實不具有同時記錄兩組㈣之能力，即必須將上述方法 稱作改變，即分段式記錄。請參閱第六圖，步驟5迎3皆與前述 步驟则，但师34改為只記鮮-繞_饋輸入端(例 如102)之電[值’此—記錄動作並持續—第三時間，例如與前述 第-時間相同之5〇微秒，接著再度執行步驟532及您，即步驟 b仁^驟537改為只記錄另一單一繞組回饋輸入端⑼如 101)之電堡值’此—記錄動作並持續該第三時間，最後再執行前述 步細_518，即步驟538_541。此—梅以兩次記錄之方式達 到與丽述同時記錄相同之短路檢測效果，但原理完全相同。 第七圖所示者為本發明之另—種繞組對繞組之短路檢測方 式，係採取虛接地參考點與—繞組端子之電壓做為比較基礎，所 有步驟大致皆與第三圖所示者相同，僅在相對於第三圖步驟別 之步驟564改為同時記錄一與被測繞組相連之繞組回饋輪入端(如 1〇2)及虛接地回饋輸入端谢’同時步驟565亦對應改為計算該繞 組輸入端賴值與虛接地回饋輸人端電壓值之纽，最後同樣以 差值之比較叫斷是否存在贿轉。#然，前述之虛接地短路 檢測方法亦可如第六0般採兩段式記錄観叙枝，即如第 t圖所示’兩者實壯皆_，差鍾在於將—個繞組回饋輸入 端改為虛接地回饋輸入端104。 第九圖為本發狀上述趣地短職财法在財短路故障 201137372 神寺之二受測端子間之電壓波形，波形622及⑵分別為輸入 =1〇2及104之波形’區段62〇係表示電子開關導通期間(即前述 第一時間）’而區段621則表示該二輸入端刚，1〇2在電子開關再 度截止後(即第二時間過後)所記錄到的電壓變化，波形625係為以 波形622減較形623後所得之差值，虛線似表示前述之臨界 值’該差值高於臨界值之部份即可反應—反電動勢之存在。減 的，第十圖所不者為在有短路故障時之狀態，波形碰及奶同 樣分別為繞組_輸入端⑽及虛接地回饋輸入端顺之波形， 波形635代表前述二者之差值，可看出，其差值均低於臨界值， 即表示沒有反電動勢之存在。 【圖式簡單說明】 第一圖係！刷直流馬達與無感無刷馬達控制器之線路圖。 第二圖係本發明之馬達繞組開路檢測方法流程圖。 第二圖係本發明之馬達繞組短路檢測方法於同時記錄兩組回饋 值模式下之流程圖。 第四圖係第三圖於無短路狀態下之波形圖。 第五圖係第三圖於有短路狀態下之波形圖。 第六圖係本發明之馬達敝鱗檢财法於分:欠記錄兩組回饋 值模式下之流程圖。 第七圖係本發明之馬達繞組短路檢測方法採用虛接地回饋輸入 及同時記錄兩組回饋值模式之流程圖。 第八圖係本發明之馬達繞組短路檢測方法採用虛接地回饋輸入 tS] 201137372 及分次記錄兩組回饋值模式下之流程圖。 第九圖係第七圖於無短路狀態下之波形圖。 第十圖係第七圖於有短路狀態下之波形圖。 【元件代表符號】 100.. .微控制器 101-103繞組回饋輸入端 104…虛接地回饋輸入端 210, 220, 230…驅動電路 211，212, 221，222, 231, 232…電子開關 300.. .無刷馬達 301,302, 303…端子 304, 305, 306...繞組 410, 420, 430, 440…分壓電路 501-506, 511-518...步驟201137372 VI. Description of the invention: [Technical field to which the invention pertains] The present invention is a Wei motor, a special wealth _ no weaving flow motor (detection of BLDQ failure. [Prior Art] Electric motor is undoubtedly a very basic and important in industrial society Equipment, annual market demand - more than 5 billion units. In all kinds of _ horse, brushless DC motor (BLDC) is often used in hard disk drives and many other industrial applications. Such as automotive parts and home appliances, etc. The typical unmanned flow motor consists of a multi-phase wound rotor with a ring on the outside and a permanent magnet rotor on the inside. There is an air gap _ between the two, and the rotation of the rotor will be in the air. When the magnetic flux is generated, the anti-f dynamic potential is also generated. The anti-electromotive force is generated by the permanent magnet rotor in front of the winding stator. The energy of the domain input motor is irrelevant. The counter electromotive force is proportional to Motor speed, rotor flux and resistance of the corresponding winding. The motor controller usually contains a high-power field effect transistor (FET), which is easily burned by overheating or overcurrent. The internal motor is difficult to detect beforehand. If it is not found before the motor fails, it is controlled by the motor. The main purpose of the present invention is to provide an open circuit and short circuit detection method for a motor winding, which can be detected by using a commercially available motor controller, without the need to transmit power to the motor. Adding additional equipment 201137372 and adding extra expenses 'is extremely economical, simple and effective. [Embodiment] The first figure shows a typical application circuit diagram of a commercially available sensorless brushy DC motor controller and a brushless DC motor. The three-phase winding of the brushless motor is 3〇4, 3 〇5, the system is divided by three terminals, moving, 3〇3 and connected to the three-phase crane circuit 21G, 22G, 23 (), the three-phase windings shown in the figure 3〇4, 305, 3〇6 For the Y connection type, of course, it can also be △ connection. The three-phase driving circuit • 21〇, 22〇, 23〇 includes two pairs (ie, six) of electronic switches 211, 212, 221, 222, 231, 232 formed by field effect transistors, wherein the electronic switch 211 and 212 is the first pair, the electronic switches 221 and 222 are the second pair, the electronic switch 231 and the third pair, each pair is connected by the high side switches 211, 221, 231 of the -ρ channel and the lower side of the channel The switches 212, 222, 232 are composed. Although the electronic switches 21, 2, 2, 221, η 231, 232 are shown as field effect transistors, they can also be other switching elements, such as isolation gates. The transistor (legs) or the bi-carrier junction transistor (Β;τ)#, the source (ie, the power supply terminal) of each high-side switch 211, 221, 231 is connected in parallel to the constant-current electric lion νρ, all The gates (ie, the gate terminals) of the electronic switches 2U, 212, 22!, 222, 23i, 232 are respectively connected to the three-phase winding of the microcontroller 100', and the voltage level of 3〇3 is passed through The dust circuit 410, 420, 430❿ is fed back to the analog input of the microcontroller 1〇〇 to the digital conversion state (ADC) input, that is, the winding feedback input terminal 1〇1_1〇3, so that the feedback voltage is guaranteed 100 microcontroller acceptable range. Another component voltage circuit 44 is applicable to some special motor controllers as a virtual ground reference point, and its voltage dividing point is connected to the fourth ADC input terminal 104 of the microcontroller 100, that is, the virtual ground feedback input terminal. . 201137372 The figure shown in the second figure is the open circuit check performed by the microcontroller 100. First, all electronic switch functions are turned off, such as 232 (step $call, then any high-side switches 211, 221, 231 are turned on (steps). 5〇2), for example, the first high-side switch 21 causes all windings to be applied with the power supply voltage Vp, and then reads the voltage value of the three-winding feedback input terminal KU-HB (step 5〇3), which can be High or low = Whether the broken winding is open (step 504) 'If all voltage values are higher than a reference value, that is, no open circuit fault condition (step 506) 'The reference value can be preferably selected as the external value of 0/ 〇仁右有—The voltage value is lower than the reference value, which means that the winding has an open circuit fault condition (step 505). y The figure shown in the third figure is the winding-to-winding or winding performed by the microcontroller 1〇〇. The address is short-circuited to the power supply (including the live and ground). The first domain stops all the electronic devices and takes 221, 222, 231, 232 and continues for one, (1) % microseconds (step 511) to eliminate the residual , then turn on a high side switch 211, 22 ι, 23 ι and a low side with a different pair 212, 222, 232, for example, the first high side switch and the second low side switch 222' continue to be turned off after a second time shorter than the first time, for example 5 microseconds, so that a short pulse current flows through the second The two windings of the opened electronic switches (such as 211 and 222) are connected, for example, the first winding 3〇4 and the second winding 3〇5 (step 512), and then the above-mentioned turned-on electronic switches (such as 2 j ι and (step is called, then the winding feedback input connected to the two electronic switches is recorded as 102 and 101 at the same time) (step 514). If there is no short circuit condition between the two windings, the winding will be after the current is stopped. A counter-electromotive force is generated, and the back electromotive force is expressed in the first and second terminals 301, 302. The winding feedback input terminals 101, 102 connected to the two tested windings 201137372 can be simultaneously recorded. The voltage value is measured. The difference between the voltage values of the feedback input of the tested winding is calculated in the foregoing step 514 (step 515), and the difference is compared with the -threshold value (step 516), if the difference is If it is greater than the critical value, it means that the two tested windings (such as 3〇4 and 3〇5) There is a short circuit fault; otherwise, the right difference is less than the critical value', which means that there is a short circuit fault between the two tested windings. Repeatedly apply to other high side high shutdowns (2), and the low side switch is called 222. The combination of 232 and the three-phase winding is an example. There are only three possibilities for the combination of any two windings. Therefore, it is only necessary to test three different high-touch and low-touch combinations to complete the short-circuit detection of all the windings to the windings. The method can not only detect the short circuit rotation of the winding to the winding, but also detect the short circuit fault between the winding and the Wei supply line or the ground line. The fourth figure is the waveform detection method of the above-mentioned scale detecting method of the present invention in the case of no planting fault condition. The waveforms 6G2 and 6G3 are waveforms of the winding feedback wheel & 102 and 101, respectively. Indicates the period during which the electronic switch is turned on (ie, the aforementioned second time), and the segment 601 indicates that the two-winding feedback wheel input terminal 1〇1, 102 is recorded after the electronic switch is turned off again (ie, after the second time). The waveform 605 is the difference obtained by subtracting the waveform 603 from the waveform 602, and the broken line 6〇4 indicates that the aforementioned threshold value 'the difference is higher than the critical value can be reacted—the existence of the counter electromotive force. Conversely, the fifth figure shows the state in the case of a short-circuit fault, and the waveform milk and 613 are also the difference between the waveforms of the input terminals 102 and 1〇1 respectively, and B, the difference_revolution value,秘秘201137372 The method of the present invention is implemented by a commercially available microcontroller, but not every commercially available microcontroller has the ability to simultaneously record two sets of values, and the micro-control woven used by the wire does not have simultaneous The ability to record two groups (four), that is, the above method must be called a change, that is, a segmented record. Please refer to the sixth figure, step 5 and 3 are the same as the above steps, but the division 34 is changed to only remember the power of the fresh-window input (for example, 102) [value 'this - record action and continue - third time, For example, the same 5th microsecond as the first time, and then step 532 and you again, that is, step b 537 is changed to record only another single winding feedback input (9) such as 101). The action is recorded and continues for the third time, and finally the foregoing step _518, step 538_541 is performed. This—Mei achieved the same short-circuit detection effect as Lisie recorded in two recordings, but the principle is exactly the same. The figure shown in the seventh figure is another type of winding-to-winding short-circuit detection method of the present invention, which is based on the virtual ground reference point and the voltage of the winding terminal, and all the steps are substantially the same as those shown in the third figure. Only in step 564 with respect to the third figure step, the winding returning end (such as 1〇2) and the virtual grounding feedback input terminal connected to the measured winding are simultaneously recorded, and the step 565 is correspondingly changed. Calculate the value of the input of the winding input and the value of the virtual ground return input voltage. Finally, the difference is also used to determine whether there is a bribe. #然, The aforementioned virtual ground short-circuit detection method can also adopt the two-stage recording method as in the sixth zero, that is, as shown in the t-th, both of them are _, the difference clock is that the winding feedback input is The end is changed to the virtual ground feedback input 104. The ninth figure is the voltage waveform of the above-mentioned interesting short-term financial method in the short-circuit fault 201137372 Shensi two measured terminals, waveforms 622 and (2) are input = 1 〇 2 and 104 waveform 'section 62 respectively The 〇 indicates the period during which the electronic switch is turned on (ie, the first time described above) and the segment 621 indicates the voltage change recorded by the two input terminals immediately after the electronic switch is turned off again (ie, after the second time). The waveform 625 is the difference obtained by subtracting the shape 623 from the waveform 622, and the dotted line indicates that the aforementioned threshold value 'the difference is higher than the critical value can be reacted—the existence of the counter electromotive force. Subtracted, the tenth figure is in the state of short circuit fault, the waveform touch milk is also the waveform of the winding_input terminal (10) and the virtual ground feedback input end respectively, and the waveform 635 represents the difference between the two. It can be seen that the difference is lower than the critical value, which means that there is no counter electromotive force. [Simple description of the map] The first picture is! Wiring diagram of brush DC motor and non-inductive brushless motor controller. The second figure is a flow chart of the method for detecting the open circuit of the motor winding of the present invention. The second figure is a flow chart of the motor winding short-circuit detecting method of the present invention simultaneously recording two sets of feedback value modes. The fourth figure is a waveform diagram of the third figure in the absence of a short circuit. The fifth figure is a waveform diagram of the third figure in the short circuit state. The sixth figure is a flow chart of the motor scale inspection method of the present invention: a flow chart under the mode of returning two sets of feedback values. The seventh figure is a flow chart of the motor winding short-circuit detecting method of the present invention using a virtual ground feedback input and simultaneously recording two sets of feedback value modes. The eighth figure is a flow chart of the motor winding short-circuit detecting method of the present invention using a virtual ground feedback input tS] 201137372 and recording the two sets of feedback value modes in a divided manner. The ninth diagram is a waveform diagram of the seventh diagram in the absence of a short circuit. The tenth figure is a waveform diagram of the seventh figure in the short circuit state. [Component Representation] 100.. . Microcontroller 101-103 winding feedback input 104... virtual ground feedback input 210, 220, 230... drive circuit 211, 212, 221, 222, 231, 232... electronic switch 300. . Brushless motor 301, 302, 303... terminal 304, 305, 306... winding 410, 420, 430, 440... voltage dividing circuit 501-506, 511-518...step